Consensus Control for Multi-Agent Systems Based on Distributed Unknown Input Observers

A novel integrated approach for distributed entire state estimation and consensus control based on distributed unknown input observers is introduced for multi-agent systems under strongly connected graphs. By utilizing local output information, the distributed output estimation algorithm is devised to estimate the all agents’ output, and then the state estimation is achieved by constructing the distributed unknown input observers. Furthermore, the control law based on the entire state estimation is proposed to realize consensus for the multi-agent systems. The main feature of the proposed algorithm is its capability of addressing the issue of sensor failures. The effectiveness of the proposed algorithm is demonstrated through both theoretical analysis and simulations.